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Person Tracking by Detection of Mobile Robot using RGB-D Cameras

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2017, 22(12), pp.17-25
  • DOI : 10.9708/jksci.2017.22.12.017
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science
  • Received : November 28, 2017
  • Accepted : December 14, 2017
  • Published : December 29, 2017

Kim, Young-Ju 1

1신라대학교

Accredited

ABSTRACT

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2’s Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

Citation status

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